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Fixed ProximityByTime wrong guess transform. Fixed Icp correspondence ratio computation when using voxel filter. OdometryResetEvent: added pose to constructor.

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This commit is contained in:
matlabbe
2017-08-15 15:26:03 -04:00
parent 1e335e53ba
commit b5b96a3edb
6 changed files with 66 additions and 80 deletions
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corelib/src/OdometryThread.cpp
+11 -4
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@@ -39,7 +39,8 @@ namespace rtabmap {
OdometryThread::OdometryThread(Odometry * odometry, unsigned int dataBufferMaxSize) :
_odometry(odometry),
_dataBufferMaxSize(dataBufferMaxSize),
_resetOdometry(false)
_resetOdometry(false),
_resetPose(Transform::getIdentity())
{
UASSERT(_odometry != 0);
}
@@ -67,10 +68,16 @@ bool OdometryThread::handleEvent(UEvent * event)
this->addData(cameraEvent->data());
}
}
else if(event->getClassName().compare("OdometryResetEvent") == 0)
}
if(event->getClassName().compare("OdometryResetEvent") == 0)
{
OdometryResetEvent * odomEvent = (OdometryResetEvent*)event;
_resetPose.setIdentity();
if(!odomEvent->getPose().isNull())
{
_resetOdometry = true;
_resetPose = odomEvent->getPose();
}
_resetOdometry = true;
}
return false;
}
@@ -92,7 +99,7 @@ void OdometryThread::mainLoop()
{
if(_resetOdometry)
{
_odometry->reset();
_odometry->reset(_resetPose);
_resetOdometry = false;
}